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The anticipated launch of fully autonomous vehicles presents an opportunity to develop and implement novel traffic management systems. Intersections are one of the bottlenecks for urban traffic, and thus offer tremendous potential for…
Traffic control management at intersections, a challenging and complex field of study, aims to attain a balance between safety and efficient traffic control. Nowadays, traffic control at intersections is typically done by traffic light…
Tradable Credit Schemes (TCS) promote the use of public and shared transport by capping private car usage while maintaining fair welfare outcomes by allowing credit trading. However, most existing studies assume unlimited public transit…
Cooperation is a ubiquitous phenomenon in many natural, social, and engineered systems with multiple agents. Understanding the formation of cooperation in mixed traffic is of theoretical interest in its own right, and could also benefit the…
Real-world autonomous driving, particularly in urban environments with numerous corner cases, requires rigorous testing to ensure product safety and robustness. However, few studies have explored integrating adversarial scenario generation…
Autonomous driving relies on accurate perception to ensure safe driving. Collaborative perception improves accuracy by mitigating the sensing limitations of individual vehicles, such as limited perception range and occlusion-induced blind…
In this paper, we investigate cooperative vehicle coordination for connected and automated vehicles (CAVs) at unsignalized intersections. To support high traffic throughput while reducing computational complexity, we present a novel…
Effective human-robot collaboration requires informed anticipation. The robot must anticipate the human's actions, but also react quickly and intuitively when its predictions are wrong. The robot must plan its actions to account for the…
In this paper we propose a distributed model predictive control architecture to coordinate the longitudinal motion of a vehicle platoon at a signalized intersection. Our control approach is cooperative; we use vehicle-to-vehicle (V2V)…
Road information such as road profile and traffic density have been widely used in intelligent vehicle systems to improve road safety, ride comfort, and fuel economy. However, vehicle heterogeneity and parameter uncertainty make it…
Studies of human-robot interaction in dynamic and unstructured environments show that as more advanced robotic capabilities are deployed, the need for cooperative competencies to support collaboration with human problem-holders increases.…
Controlling and coordinating urban traffic flow through robot vehicles is emerging as a novel transportation paradigm for the future. While this approach garners growing attention from researchers and practitioners, effectively managing and…
Connected automated vehicles (CAVs) have brought new opportunities to improve traffic throughput and reduce energy consumption. However, the uncertain lane-change behaviors (LCBs) of surrounding vehicles (SVs) as an uncontrollable factor…
This research addresses the increasing demand for advanced navigation systems capable of operating within confined surroundings. A significant challenge in this field is developing an efficient planning framework that can generalize across…
Connected vehicles will change the modes of future transportation management and organization, especially at an intersection without traffic light. Centralized coordination methods globally coordinate vehicles approaching the intersection…
Rapid transit of emergency vehicles is critical for saving lives and reducing property loss but often relies on surrounding ordinary vehicles to cooperatively adjust their driving behaviors. It is important to ensure rapid transit of…
Human-vehicle cooperative driving serves as a vital bridge to fully autonomous driving by improving driving flexibility and gradually building driver trust and acceptance of autonomous technology. To establish more natural and effective…
We propose a decentralized collision-avoidance mechanism for a group of independently controlled robots moving on a shared workspace. Existing algorithms achieve multi-robot collision avoidance either (a) in a centralized setting, or (b) in…
Robotic fleets can be extremely efficient when working concurrently and collaboratively, e.g., for delivery, surveillance, search and rescue. However, it can be demanding or even impractical for an operator to directly control each robot.…
Predictable inter-vehicle communication reliability is a basis for the paradigm shift from the traditional singlevehicle-oriented safety and efficiency control to networked vehicle control. The lack of predictable interference control in…